Communication, Mobility and Control for CATS* · J. Härri – Communication, Mobility and Control for CATS – Robot PACA 2018 Cooperative Communication – OpenAirInterface –

Communication, Mobility and Control for CATS*

Jérôme Härri

EURECOM

Robot PACA, June 25th 2018

*Cooperative Automated Transport Systems

J. Härri – Communication, Mobility and Control for CATS – Robot PACA 2018

CATS – From Awareness to Autonomy

Cooperative Communication

Cooperative Mobility

Cooperative Control

CATS: • Awareness • Positioning • Smart Traffic Lights • Dynamic Navigation • Autonomous Driving • Vulnerable RU • ..

C-V2X, ITS-G5

Cars

ICN, MEC, SDN, Caching

VRU Mixed Robots

24/06/2018 - - p 1


Cooperative Communication – Cellular V2X Roadmap

2007 2008 2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019

4G LTE rel.8 4G LTE rel.9

4G LTE-A rel.10 4G LTE-A rel.11

4G LTE-A rel.12 4G LTEA Pro rel.13

4G LTE-A Pro rel.14 4G LTE rel.15

4G - 12 years development

3G

5G LTE rel.15

5G LTE rel.16

….

Sept

. 201

8

June

201

6

V2X Phase 1 V2X

Phase 2

eV2X Phase 3

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Cooperative Communication – OpenAirInterface – 5G V2X support

Scenario 1: Off-Network V2X-PC5 UEs are off-network but

communicate directly via a Sidelink channel

Scenario 2: On-Network V2X-PC5 UEs are located closed to their eNodeB

but communicate directly via a Sidelink channel

V2X Architecture Common Open-Source D2D Functions Dedicated V2X functions (scheduler)

Spectrum

V2V PC5 – 5.9GHz (current implementations) V2I-V2N Uu – 3.4 GHz (require research spectrum)

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A

BPC5

eNB

A

B

1

2

A and B on-network get configuration from ProSe function

A and B communicate via D2D mode

ProSeFunctionPC3

EPC

PC5

5G OpenAirInterface - http://www.openairinterface.org

http://www.openairinterface.org/


Cooperative Communication – Connecting Automated Vehicles

Joint EURECOM, BUPT, CHINA Mobile Demo Actually: 4G only

https://youtu.be/rdWhQoO0EYo

https://youtu.be/7IGewzVH-Ro

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Cooperative Mobility – Modeling Vulnerable Road Users

Powered-Two Wheelers (PTW): Increasing presence in road traffic Lack of knowledge of their influence on traffic

flows Critical impact on Smart Cities and Road

Automations C-ITS applications are not adapted to PTW

– New WG at CAR 2 CAR in 2016

Selected Publications: Sosina Gashaw, Jérôme Härri, Paola Goatin, “Variable Speed Limit Control for Mixed Powered-Two-Wheelers and Car

Traffic”, Submitted to IEEE Intelligent Transport Sytem Conference (ITSC), 2018. Sosina Gashaw, Paola Goatin, Jérôme Härri, Modeling and Analysis of Mixed Flow of Cars and Powered Two-

wheelers, Elsevier Transportation Research Part C, 2018. Sosina Gashaw, Paola Goatin, Jérôme Härri, Analysis of the effect of Powered two wheelers on adaptive traffic

signals operation, 8th International Conference on Mobility and Transport (Mobil.TUM), TU Munich, Germany 2017.

Porous Flow Modeling Improved Road Capacity Optimized Traffic Lights

Variable Speed Limits

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Cooperative Mobility – MoST A Tool for Large-Scale Multi-Modal Scenarios

Modeling a large Scale Urban Scenario

Selected Publications: L. Codeca, J. Härri, "Towards Multimodal Mobility Simulation of C-ITS: The Monaco SUMO Traffic Scenario“, IEEE

VNC’17, Torino, Italy, 2017 L. Codeca, J. Härri, “A 3D Mobility Scenario for Cooperative ITS“, the SUMO Conference, Berlin, May 2018. L. Codeca, J. Härri, “Impact of Powered-Two-Wheelers in a City-Scale Multi-modal Scenario”, submitted to IEEE ITSC

2018..

Modeling Elevations

Modeling Multi-Modal Traffic Modeling Precise Mobility, including

VRU

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Cooperative Control – Improving Safety and Efficiency

Automated Vehicles subject to Various sources of errors

24/06/2018 - - p 7

Localization Errors V2X Communication Errors

Perception Errors

Selected Publications: Raj Haresh Patel, Jérôme Härri, Christian Bonnet, Centralized Model Predictive CACC Control Robust to Burst

Communication Errors, IEEE VTC-CAVS, Chicaco, 2018. Aramrattana, Maytheewat; Patel, Raj Haresh; Englund, Cristofer; Härri, Jérôme; Jansson, Jonas; Bonnet, Christian,

Evaluating model mismatch impacting CACC controllers in mixed traffic using a driving simulator, IEEE Intelligent Vehicle Symposium (IV), China, 2018.

Raj Haresh Patel, Jérôme Härri, Christian Bonnet, Impact of localization errors on automated vehicle control strategies, IEEE Vehicular Networking Confefence (VNC), Torino, Italy, 2017.

Raj Haresh Patel, Jérôme Härri, Christian Bonnet, Braking strategy for an autonomous vehicle in a mixed traffic scenario, accepted, 3rd IEEE Conference on Vehicle Technology and Intelligent Transport Systems, 2017, Porto, Portugal.


Vision to CATS for Smart Cities

OpenAirInterface as 5G technology enabler for automated and remotely controlled vehicles 5G V2X Support 5G URLL MEC

Model and understand the impact of Vulnerable Road Users (VRU)

on Mixed Traffic Impact on Flows Impact on Infrastructures

Provide a tool for modeling large-scale multi-modal urban traffic

https://github.com/lcodeca/MoSTScenario

Develop controllers robust to errors and supporting VRU Robust to localization, communication, perception impairments Integrates mixed traffic and VRU

24/06/2018 - - p 8

Jérôme Härri, [email protected]

https://github.com/lcodeca/MoSTScenario

mailto:[email protected]

Communication, Mobility and Control for CATS* · J. Härri – Communication, Mobility and Control for CATS – Robot PACA 2018 Cooperative Communication – OpenAirInterface –

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